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cs.RO2024
Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning
William Thibault, Vidyasagar Rajendran, William Melek +1
Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, som…
cs.RO2024
Learning Velocity-based Humanoid Locomotion: Massively Parallel Learning with Brax and MJX
William Thibault, William Melek, Katja Mombaur
Humanoid locomotion is a key skill to bring humanoids out of the lab and into the real-world. Many motion generation methods for locomotion have been proposed including reinforceme…
cs.RO2024
5G Virtual Reality Manipulator Teleoperation using a Mobile Phone
Alexander Werner, William Melek
This paper presents an approach to teleoperate a manipulator using a mobile phone as a leader device. Using its IMU and camera, the phone estimates its Cartesian pose which is then…